Haptic information presentation system and method

ABSTRACT

A system and method are disclosed in which in a conventional non-grounding man-machine interface having no reaction base on the human body and for giving the existence of a virtual object and the impact force of a collision to a person, a haptic sensation of a torque, a force and the like can be continuously presented in the same direction, which cannot be presented by only the physical characteristic of a haptic sensation presentation device. In a haptic presentation device, the rotation velocity of at least one rotator in the haptic presentation device is controlled by a control device, and a vibration, a force or a torque as the physical characteristic is controlled, so that the user is made to conceive various haptic information of the vibration, force, torque or the like.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of co-pending U.S. patent applicationSer. No. 12/710,813, filed on Feb. 23, 2010, and entitled: “HAPTICINFORMATION PRESENTATION SYSTEM AND METHOD,” which is herebyincorporated by reference.

Application Ser. No. 12/710,813, is a continuation of application Ser.No. 10/579,672, filed on Sep. 21, 2006, and entitled: “HAPTICINFORMATION PRESENTATION SYSTEM AND METHOD,” which is herebyincorporated by reference.

This application, application Ser. No. 12/710,813, and application Ser.No. 10/579,672 claim priority under 35 USC §371 of InternationalApplication No. PCT/JP2004/017277, filed on Nov. 19, 2004, which ishereby incorporated by reference.

FIELD OF THE INVENTION

The present invention relates to a haptic information presentationsystem and method, which uses sensory characteristics.

More particularly, the invention relates to a haptic informationpresentation system, a haptic information presentation method, a hapticpresentation device of a haptic information presentation system, and acontrol device of a haptic information presentation system, which is forproviding a man-machine interface mounted on an equipment used in thefield of VR (Virtual Reality), an equipment used in the field of game, acellular phone, a portable navigation equipment, a PDA (Personal DigitalAssistant) or the like.

BACKGROUND

With respect to a conventional haptic device in the VR, in the hapticpresentation of a tensile force or reaction force, a haptic presentationpart in contact with a human sense organ and a haptic presentationsystem main body are connected to each other by a wire or an arm, andthere has been a disadvantage that the existence of the wire, arm or thelike restricts the human motion. Besides, since use is limited to aneffective space in which the haptic presentation system main body andthe haptic presentation part are connected to each other by the wire orthe arm, there has been a limitation in the expanse of the space whichcan be used.

On the other hand, a man-machine interface which is of a non-groundingtype and has no reaction base on the human body has been proposed.However, in this type of presentation device, the rotation velocity(angular velocity) of a motor is controlled so that a torque ispresented by a temporal change of an angular momentum vector, and it hasbeen difficult to continuously present haptic information of torque,force or the like in the same direction.

As a non-grounding type haptic information presentation device, a torquepresentation apparatus using a gyro moment and a gimbal structure hasbeen developed (non-patent document 1). However, in the gimbalstructure, there are problems that the direction of a torque which canbe presented is limited, the structure becomes complicated, and thecontrol becomes troublesome.

On the other hand, a non-grounding mobile haptic informationpresentation device (non-patent document 2) has been proposed in which atorque in an arbitrary direction or with an arbitrary magnitude can bepresented by independently controlling the rotations of three gyromotors arranged in three-axis orthogonal coordinates. In this hapticinformation presentation device, since the torque is generated bycontrolling a resultant angular momentum vector generated by the threegyro motors, the structure is relatively simple and the control is alsoeasy. However, there are such problems to be solved that hapticinformation is made to be capable of being continuously presented, and aforce sensation other than the torque is made to be capable of beingpresented.

[Non-patent document 1] Masayuki Yoshie, Hiroaki Yano, Hiroo Iwata“Development of Non-grounded Force Display Using Gyro Moment”, ResearchReport Collection (Kenkyu Hokokusho) of Human Interface Society, vol. 3,No. 5, pp. 25-30 (2000)

[Non-patent document 2] Yokichi Tanaka, Masataka Sakai, Yuka Kohno,Yukio Fukui, Juli Yamashita, Norio Nakamura, “Mobil Torque Display andHaptic Characteristics of Human Palm”, INTERNATIONAL CONFERENCE ONARTIFICIAL REALITY AND TELEXISTENCE, pp. 115-120 (2001/12)

SUMMARY

Various deficiencies in the prior art are addressed by embodiments forhaptic information presentation.

A haptic communication apparatus according to one embodiment is adaptedto perform transmission and/or reception of information. The hapticcommunication apparatus comprises a haptic presentation device. Thehaptic presentation device is adapted to control a physical quantityutilizing a haptic sensory characteristic representing a relationshipbetween the physical quantity to be applied to a human body and asensory quantity to be perceived by the human body, and thereby topresent haptic information.

BRIEF DESCRIPTION OF THE DRAWINGS

The teachings herein can be readily understood by considering thefollowing detailed description in conjunction with the accompanyingdrawings, in which:

FIG. 1 is a view showing a rough structure of a haptic informationpresentation system of an embodiment of the invention;

FIGS. 2A and 2B are views showing a haptic information presentationmethod using a sensory characteristic relating to a haptic sense;

FIGS. 3A and 3B are views showing a haptic information presentationmethod using a sensory characteristic relating to a haptic sense;

FIGS. 4A to 4C are views showing a haptic information presentationmethod using a hysteresis sensory characteristic relating to a hapticsense;

FIGS. 5A to 5C are views showing a haptic information presentationmethod using a method of changing a sensory characteristic by a maskingeffect relating to a haptic sense;

FIGS. 6A to 6C are views showing a haptic information presentationmethod using a method of changing a sensory characteristic by a maskingeffect relating to a haptic sense;

FIGS. 7A and 7B are schematic views showing a method of changing asensory characteristic by a masking effect relating to a haptic sense;

FIGS. 8A and 8B are views showing a haptic information presentationmethod using a method of controlling haptic information presentation inconformity with a change of a sensory characteristic relating to ahaptic sense;

FIG. 9 is a view showing a haptic information presentation method usinga method of controlling haptic information presentation in conformitywith an anisotropic sensitivity curve change as a sensory characteristicrelating to a haptic sense;

FIGS. 10A to 10D are views showing a haptic information presentationmethod in which a sensory characteristic relating to a haptic sense isused, and rotation of an eccentric rotator 711 is phase synchronized;

FIGS. 11A to 11D are views showing a haptic information presentationmethod of a vibration sensation, a torque sensation, and a forcesensation by suitably synchronizing rotation directions and phases ofboth an eccentric rotator A 812 and an eccentric rotator B 813;

FIGS. 12A and 12B are views showing a haptic information presentationmethod of a vibration sensation and a force sensation by suitablysynchronizing rotation directions and phases of both the eccentricrotator A 812 and the eccentric rotator B 813;

FIG. 13 is an explanatory view in which both the eccentric rotator A 812and the eccentric rotator B 813 are made one pair, and three such pairsare arranged in an orthogonal coordinate system;

FIG. 14 is an explanatory view of a sheet-shaped eccentric rotator arrayto which the invention is applied;

FIG. 15 is an explanatory view of a glove-shaped eccentric rotator arrayto which the invention is applied;

FIGS. 16A to 16D are views showing a haptic information presentationmethod in which a sensory characteristic relating to a haptic sense isused, and rotations of both an eccentric rotator A 912 and an eccentricrotator B 913 are phase synchronized;

FIGS. 17A to 17D are views showing a haptic information presentationmethod in which a sensory characteristic relating to a haptic sense isused, and rotations of both an eccentric rotator A 1012 and an eccentricrotator B 1013 are phase synchronized in opposite directions;

FIGS. 18A to 18F are schematic views of a method in which thepresentation method of a force sensation using both the eccentricrotators shown in FIG. 17A is used to present a pushing feeling byoneself, an expansion feeling, a pressure feeling, a pulling feeling byoneself, a pulled feeling from outside, and a pushed feeling fromoutside;

FIG. 19 is an explanatory view of a skin-shaped eccentric rotator arrayto which the invention is applied;

FIG. 20 is an explanatory view of a skin-shaped eccentric rotator arrayto which the invention is applied;

FIG. 21 is an explanatory view of a skin-shaped eccentric rotator arrayto which the invention is applied;

FIG. 22 is an explanatory view of a skin-shaped eccentric rotator arrayto which the invention is applied;

FIGS. 23A to 23D are views showing a haptic information presentationmethod in an arbitrary direction by using a method of changing a sensorycharacteristic by a masking effect relating to a haptic sense;

FIGS. 24A and 24B are explanatory views of a gyroscope type and aresultant angular momentum vector differential type;

FIG. 25 is an explanatory view of a resultant angular momentum in aninertia coordinate system;

FIGS. 26A to 26D are explanatory views showing a torque presentationmethod and an operation principle in the case where a cellular phone hasa built-in haptic information presentation system to which the inventionis applied;

FIG. 27 is an explanatory view showing that in the explanation of meritsof three-dimensional torque presentation, when an arm is movedvertically, the posture of a torque presentation device is stabilized bythe conservation of a turning axis like a vertical gyro in an airplane;

FIG. 28 is a view showing a two-dimensional sectional view of a hapticpresentation device 2801 in which two facing eccentric rotators are madeone pair and three such pairs are arranged in an orthogonal coordinatesystem;

FIG. 29 is a view showing a two-dimensional sectional view of a hapticpresentation device 2901 in which the haptic presentation device 2801 isfurther improved;

FIG. 30 is a view showing a two-dimensional sectional view of a hapticpresentation device 3001 in which the haptic presentation device 2901 isfurther improved;

FIG. 31 is a view showing another applied example of the glove-shapedeccentric rotator array 890 of FIG. 15;

FIG. 32 is a view showing a two-dimensional sectional view of a hapticpresentation device 3201 in which the haptic presentation device 2801 isfurther improved;

FIGS. 33A and 33B are explanatory views of a pen-shaped device 3301having a built-in haptic presentation device of the embodiment;

FIGS. 34A and 34B are views showing a rough structure of a pen-shapeddevice 3301;

FIG. 35 is an explanatory view of a laser pointer 3501 having a built-inhaptic presentation device of the embodiment and is a view showing arough structure of the laser pointer 3501;

FIG. 36 is an explanatory view of a baton-type controller 3601 having abuilt-in haptic presentation device of the embodiment and is a viewshowing a rough structure of the baton-type controller 3601;

FIG. 37 is a view showing a rough structure of a modified example of thehaptic information presentation method of FIG. 11D;

FIGS. 38A and 38B are views showing a rough structure of anothermodified example of the haptic information presentation method of FIG.11D;

FIGS. 39A and 39B are views showing a rough structure of a modifiedexample of a haptic presentation device 1301 of FIG. 13;

FIG. 40 is an explanatory view of a desk device 4001 having a built-inhaptic presentation device of the embodiment and is a view showing arough structure of the desk device 4001;

FIG. 41 is a block diagram of a haptic information presentation systemof the embodiment; and

FIGS. 42A to 42C are supplemental explanatory views of the pen-shapeddevice 3301 having the built-in haptic presentation device of theembodiment.

To facilitate understanding, identical reference numerals have beenused, where possible, to designate identical elements that are common tothe figures.

DETAILED DESCRIPTION OF THE INVENTION

In view of the above, a first object of the invention is to provide ahaptic information presentation system and method, in which in aconventional non-grounding man-machine interface having no reaction baseon the human body and for giving the existence of a virtual object andthe impact force of a collision to a person, a haptic informationpresentation mechanism using human sensory characteristics is realized,so that haptic information of vibration, torque, force and the like canbe continuously presented in the same direction, which can not bepresented only by the physical characteristics of a haptic presentationdevice.

Besides, when a physical quantity continues to be continuously presentedin the man-machine interface, in case the performance of thepresentation device is sufficiently high, the physical quantity such asthe torque or force can continue to be continuously presented in thesame direction. However, actually, the performance of the presentationdevice is not infinite, and in the case where the performance of thepresentation device is not sufficient, for example, when the torquecontinues to be continuously presented, it becomes necessary to returnthe rotation velocity of the rotator to the initial state in one cycleof the presentation. That is, it is required that the integral value ofthe angular momentum vector of the rotator is made zero. In this case,the quite opposite torque or force is presented, and there arises aproblem that the senses in the positive direction and the negativedirection cancel each other out.

Thus, a second object of the invention is to provide a hapticinformation presentation system and method, in which human sensorycharacteristics are used, and in an operation of a haptic presentationdevice, even if a return is made physically to the initial state in onecycle, and a integral value of physical quantity becomes zero, aintegral value of a sensory quantity does not become zero, and a sensecan continue to be presented freely in an arbitrary direction.

In order to achieve the above object, according to a first aspect of theinvention, a haptic information presentation system includes a hapticpresentation unit having two eccentric rotators, and a control unit thatindependently changes a frequency and an intensity of a vibration and/ora vibration sensation by controlling rotation directions, a phaserelation and rotation speeds of the two eccentric rotators.

According to a second aspect of the invention, a haptic informationpresentation system includes a haptic presentation unit having twoeccentric rotators, and a control unit that independently changes afrequency and an intensity of a force and/or a force sensation byinverting rotation directions of the two eccentric rotators.

According to a third aspect of the invention, a haptic informationpresentation system includes a haptic presentation unit having aneccentric rotator array in which plural single eccentric rotators,and/or plural twin eccentric rotators each having two eccentricrotators, and/or plural twin eccentric rotators arranged in athree-dimensional space are arranged two-dimensionally orthree-dimensionally, and a control unit to control a rotation state ofeach of the eccentric rotators included in the haptic presentation unit.

According to a fourth aspect of the invention, a haptic informationpresentation system includes a haptic presentation unit having pluralrotators arranged three-dimensionally, and a control unit to control atemporal change of a resultant angular momentum vector of the hapticpresentation unit, in which the control unit generates a torque with afixed value by abruptly changing the resultant angular momentum vectorin the vicinity of zero, and controls a precession torque to be aspecified value or less.

According to a fifth aspect of the invention, in a haptic informationpresentation method, when a haptic presentation unit having twoeccentric rotators is controlled, a frequency and an intensity of avibration and/or a vibration sensation are independently changed bycontrolling rotation directions, a phase relation and rotation speeds ofthe two eccentric rotators.

According to a sixth aspect of the invention, in a haptic informationpresentation method, when a haptic presentation unit having twoeccentric rotators is controlled, a frequency and an intensity of aforce and/or a force sensation are independently changed by invertingrotation directions of the two eccentric rotators.

According to a seventh aspect of the invention, in a haptic informationpresentation method, when a control is made on a haptic presentationunit having an eccentric rotator array in which plural single eccentricrotators, and/or plural twin eccentric rotators each having twoeccentric rotators arranged on a same rotation axis, and/or plural twineccentric rotators arranged in a three-dimensional space are arrangedtwo-dimensionally or three-dimensionally, a rotation state of each ofthe eccentric rotators included in the haptic presentation unit isindividually controlled.

According to an eighth aspect of the invention, in a haptic informationpresentation method, when a haptic presentation unit having pluralrotators arranged three-dimensionally is controlled, a temporal changeof a resultant angular momentum vector of the haptic presentation unitis controlled, a torque with a fixed value is generated by abruptlychanging the resultant angular momentum vector in the vicinity of zero,and a precession torque is controlled to have a specified value or less.

When the haptic information presentation system of the invention and thehaptic information presentation method are carried out, special effectslisted below can be obtained.

(1) It becomes possible to continuously or intermittently present thehaptic information of the torque, force and the like in the samedirection, which has been difficult in a conventional man-machineinterface which is of a non-grounding type and has no reaction base onthe body.

(2) By using human sensory characteristics and illusion, it becomespossible to present the haptic sensory-physical characteristics of thetorque, force or the like, which can not exist physically, to a person.

(3) By using the human sensory characteristics, it becomes possible topresent the haptic information efficiently while energy is saved, and aminiaturized haptic presentation system can be realized.

(4) In order to present a vibration sensation, a torque sensation, and aforce sensation, a device corresponding to each of them isconventionally required. However, according to the invention, it becomespossible to simultaneously present one or more of the vibrationsensation, the torque sensation, and the force sensation by onemechanism of the eccentric rotators, various haptic information can bepresented, and the presentation system can be miniaturized.

(5) By carrying out the invention, it is possible to realize a usefulman-machine interface, an interface between a robot and a machine, aninterface between an animal and a machine, and the like, which can bemounted on an equipment used in the field of VR (Virtual Reality), anequipment used in the field of game, a cellular phone, a portablenavigation equipment, a PDA (Personal Digital Assistant) and the like.For example, in the field of the VR, the existence of an object in avirtual space or the shock due to a collision can be presented bypresenting a force to a person through the man-machine interface or bygiving a resisting force or reaction force. Besides, by mounting theinterface on the cellular phone, portable navigation equipment, PDA, orthe like, various instructions, guides and the like, which have notexisted conventionally, can be realized through the skin of an operator.

(6) An eccentric rotator which is conventionally known and is used in amanner mode of a cellular phone or the like, the vibration intensity isincreased by increasing the rotation velocity, and the vibrationfrequency and the vibration intensity have not been capable of beingindependently controlled. However, in the eccentric rotator to which theinvention is applied, the vibration intensity of the eccentric vibrationcan be changed without changing the rotation velocity. By this, itbecomes possible to independently control the vibration frequency andthe vibration intensity.

(7) According to the sheet-shaped eccentric rotator array to which theinvention is applied, by suitably controlling the rotations of therespective eccentric rotators, the vibration sensation, torquesensation, and force sensation of various patterns in space and time canbe presented onto the palm. Besides, the sheet-shaped eccentric rotatorarray can be applied to a glove, clothes, or something having a wearableshape.

(8) According to the sheet-shaped eccentric rotator array to which theinvention is applied, various haptic information relating to an object,such as the existence, shape, elasticity, texture and the like of avirtual object, can be presented by suitably changing a space portion ofa force sensation in accordance with the movement of a palm or the like.

(9) In an inertia coordinate system, in the case where the temporalchange of the resultant angular momentum vector is controlled, theeasiness of the control is a great merit. That is, the resultant angularmomentum vector is abruptly changed in the vicinity of zero, so that alarge torque is generated, and a precession torque can be suppressed tobe low. Besides, in the case where the torque presentation device swaysaccording to the movement of the user and difficulty occurs, theresultant angular momentum vector is temporarily changed in the vicinityof the resultant angular momentum vector with a suitable magnitude, sothat a specified torque can be presented while the sway of the torquepresentation device is suppressed.

Hereinafter, embodiments of the invention will be described withreference to the drawings.

(Operation Principle 1)

FIG. 1 is a view showing a rough structure of a haptic informationpresentation system of an embodiment of the invention.

A haptic presentation device 112 is such that the rotation velocity ofat least one rotator in the haptic presentation device 112 is controlledby using a control device 111, and a vibration, force or torque as itsphysical characteristics is controlled, so that a user 110 is made toperceive various haptic information such as the vibration, force ortorque.

Hereinafter, although the haptic information presentation system of theembodiment will be described with reference to FIGS. 2A to 40 inaddition to FIG. 1, before that, the outline of the block structure ofthe system will be described with reference to a block diagram of thehaptic information presentation system of the embodiment of FIG. 41attached to the end of the drawings.

In FIG. 41, a haptic information presentation system 4101 includes ahaptic presentation device 4110, a control device 4120, and an inputdevice 4130. The haptic presentation device 4110 includes therein atleast one rotator 4180 rotated by a motor, and it is rotated by thecontrol from the control device 4120. A stepping motor, a servo motor,or the like can be applied to the driving of the rotator 4180. Thecontrol device 4120 includes a CPU (central processing unit) 4160, a RAM(random access memory) 4170, a ROM (read only memory) 4140 and the like.

The CPU 4160 controls the whole operation of the control device 4120.The RAM 4170 is used as a work area to temporarily store data of aprocessing object and the like when the CPU 4160 performs theprocessing. A control program 4150 is previously stored in the ROM 4140.The control program 4150 is a program to prescribe the controlprocessing of the haptic presentation device 4110 corresponding to theinput signal from the input device 4130. The CPU 4160 reads the controlprogram 4150 from the ROM 4140 and executes it, and controls the rotator4180 of the haptic presentation device 4110 correspondingly to therespective input signals.

The input device 4130 is, for example, a select button of an input menu.The CPU 4160 performs a processing (for example, the haptic presentationdevice 4110 is controlled so as to generate a torque in a specifiedrotation direction) corresponding to the input of the select buttonselected by depression, touch or the like. The input device 4130 asstated above may be united with the control device 4120 and made a partof the control device 4120.

Alternatively, the input device 4130 is a device such as a well-knownmyoelectric detector to detect myoelectricity described later, or awell-known angular acceleration sensor. When a trigger signal ofmyoelectricity occurrence from the myoelectric detector, or a signal ofangular acceleration from the angular acceleration sensor is inputted tothe control device 4120, the CPU 4160 feeds back the input and controlsthe haptic presentation device 4110. The input device 4130 such as theangular acceleration sensor, together with the haptic presentationmachine 4110, may be included in the inside of the haptic presentationdevice 4110.

Since a general processing method in which the CPU 4160 reads thecontrol program 4150 from the ROM 4140 and executes it so that thecontrol of the rotator 4180 of the haptic presentation device 4110 isperformed correspondingly to each input signal, is well known for oneskilled in the art through non-patent documents 1 and 2 and the others,the detailed description would be unnecessary. Accordingly, in thefollowing, a description will be given to a processing method of thecontrol device in the haptic information presentation system and thestructure of the haptic presentation device, which are features of theembodiment.

FIGS. 2A, 2B, 3A, and 3B are views showing the haptic informationpresentation method in which a sensory characteristic relating to ahaptic sense is used and the haptic presentation device is controlled bythe control device of the haptic information presentation system.

In a sensory characteristic 211, a sensory quantity 213 thereof is oftena nonlinear characteristic, such as a logarithm, with respect to aphysical quantity 212 which is mainly a stimulus. FIG. 2A schematicallyshows a case where the sensory characteristic 211 is a logarithmicfunction characteristic. When consideration is given to a case where apositive torque is generated at an operation point A 214 on the sensorycharacteristic 211, and a negative torque in the reverse direction isgenerated at an operation point B 215, a torque sensation 224 isrepresented as shown in FIG. 2B. A torque 223 is proportional to thetime differential of a rotation velocity (angular velocity) 222. When anoperation is performed at the operation point A 214 and the operationpoint B 215, the torque sensation 224 is perceived. The torque 223 isphysically returned to an initial state 228 in one cycle, and anintegral value thereof is zero. However, a sensory integral value of thetorque sensation 224 as the sensory quantity does not necessarily becomezero. By suitably selecting the operation point A 214 and the operationpoint B 215 and by suitably setting an operation point A duration time225 and an operation point B duration time 226, the torque sensation canfreely continue to be presented in an arbitrary direction.

The above is established also when the sensory characteristic 211exhibits a nonlinear characteristic of an exponential function case orthe like.

FIG. 3A schematically shows a case where a sensory characteristic 231has a threshold value. When consideration is given to a case where apositive torque is generated at an operation point A 234 on the sensorycharacteristic 231, and a negative torque in the reverse direction isgenerated at an operation point B 235, a torque sensation 244 isrepresented as in FIG. 3B.

Similarly to the case which is shown in FIG. 2A and FIG. 2B and in whichthe sensory characteristic is nonlinear, a torque 243 is physicallyreturned to an initial state 248 in one cycle, and an integral valuethereof is zero. However, since the torque sensation 244 as the sensoryquantity is the sensory threshold value or less in a section of anoperation point B duration time 246, it becomes zero. As a result, atorque sensation can continue to be intermittently presented only in onedirection.

FIGS. 4A to 4C are views showing a haptic information presentationmethod using a hysteresis sensory characteristic relating to a hapticsense.

The sensory characteristic is not isotropic between a time when adisplacement 312 is increased and a time when it is decreased, forexample, between a time when a muscle is extended and a time when it iscontracted, and often indicates a hysteresis sensory characteristic 311.The hysteresis sensory characteristic 311 of FIG. 4A schematicallyrepresents the hysteresis characteristic of the sensory characteristic.When consideration is given to a case where a positive torque isgenerated in an operation passage A 314 on the hysteresis sensorycharacteristic 311, and a negative torque in the reverse direction isgenerated in an operation passage B 315, these behaviors are representedas in FIG. 4B, and a torque sensation 334 is represented as in FIG. 4C.A torque 333 is proportional to the time differential of a rotationvelocity 332 of a rotator. When an operation is performed in theoperation passage A 314 and the operation passage B 315, the torquesensation 334 is perceived. The torque 333 is physically returned to aninitial state 338 in one cycle, and an integral value thereof is zero.However, a sensory integral value of the torque sensation 334 as thesensory quantity does not necessarily become zero. By suitably selectingthe operation passage A 314 and the operation passage B 315, and bysuitably setting an operation passage A duration time 335 and anoperation passage B duration time 336, a high torque sensation in anarbitrary direction can continue to be intermittently and continuouslypresented.

FIGS. 5A to 5C and FIGS. 6A to 6C are views showing, as an example of amethod of changing a sensory characteristic, a haptic informationpresentation method using a method of changing a sensory characteristicby a masking effect relating to a haptic sensation.

In the sensory characteristic, masking is performed by a maskingvibration and a torque sensation 434 is decreased. As this maskingmethod, simultaneous masking 424 (having satisfactory results in maskingof the visual sense and hearing sense), forward masking 425, andbackward masking 426 are enumerated. FIG. 5A schematically shows atorque 413 as a maskee, and the torque sensation 434 perceived at thistime is represented as in FIG. 5C. The torque 413 is proportional to thetime differential of a rotation velocity 412 of a rotator.

At this time, an initialization time 415 in which the rotation velocity412 of the rotator is initialized, and a masking duration time 425corresponding thereto are shortened like an initialization time 445 anda masking duration time 455 shown in FIG. 6A, and when it becomesshorter than a certain specific time, a critical fusion occurs in whichalthough a negative torque due to the initialization physically exists,it is felt as if torque is continuously presented like a torquesensation 464.

Incidentally, a masker to generate a masking vibration may be a rotatordifferent from a rotator as a maskee whose torque is masked by that orthe rotator itself as the maskee.

The case where the rotator of the maskee is also the masker means thatat the time of masking, the rotator is controlled to generate themasking vibration by the control device. The vibration direction of themasker may be the same as the rotation direction of the rotator as themaskee or may not be the same.

The above can occur also in the case where the maskee and the masker arethe same stimulus (in the case where the rotator of the maskee is alsothe masker). FIGS. 7A and 7B are views schematically showing this case.As shown in FIG. 7B, before and after high torque sensations 485 and486, a torque sensation 484 is decreased by forward masking 485 andbackward masking 486.

FIGS. 8A and 8B are views showing a haptic information presentationmethod using a method of controlling haptic information presentation inconformity with changes of sensory characteristics relating to a hapticsense.

With respect to the sensory characteristic, the sensitivity of a torquesensation 517 is changed according to a muscle tensile state or at leastone state of physical, physiological and psychological states. Forexample, when a muscle is instantaneously expanded by a presented torque514 (high torque 524 in a short time) as an external force, a sensorcalled a muscle spindle in the muscle senses this, and the muscle isquickly contracted in a conditioned reflex way by a muscle cause torque515 (muscle reflex cause torque 525) having power not lower than thisexternal force. At this time, myoelectricity 511 is generated. A controlcircuit 512 having detected it controls a haptic presentation device513, and changes the sensitivity of the torque sensation 517 byactivating a presentation torque 516 (gentle middle torque 526) insynchronization with the contraction of the muscle.

The above is established not only in the muscle tensile state but alsoin the case of the change of sensory sensitivity due to at least onestate of breath, posture and neural firing states.

FIG. 9 shows a haptic information presentation method using a method ofcorrecting a presentation physical quantity according to a relationbetween the presentation physical quantity and a sensory quantity withrespect to a palm direction and relating to a haptic sense. In the palm,the sensitivity is different according to the palm direction because ofthe anatomical structure of a skeleton, joint, tendon, muscle and thelike. The direction presentation with high precision becomes possible bycorrecting the intensity (rotation velocity ω 612) of the presentationphysical quantity in conformity with the sensitivity (anisotropicsensitivity curve 611) dependent on the palm direction.

FIGS. 10A to 10D are explanatory views of an eccentric rotator which canbe applied to the rotator of the haptic presentation device of theembodiment, and are views showing a haptic information presentationmethod in which a sensory characteristic relating to a haptic sense isused, and the rotation of an eccentric rotator 711 is phase synchronizedas in FIG. 10B.

FIG. 10C schematically shows a case where a sensory characteristic 731is a logarithmic function characteristic, and the sensory characteristic731 indicates that similarly to the sensory characteristic 211, asensory quantity 733 has a nonlinear characteristic of a logarithm orthe like with respect to a physical quantity 732 as a stimulus. Whenconsideration is given to a case where a positive torque is generated atan operation point A 734 on the sensory characteristic 731 (vibration isalso generated by the eccentricity of the eccentric rotator 711), and anegative torque in the reverse direction is generated at an operationpoint B 735, a torque sensation 744 is represented as in FIG. 10D. Atorque 743 is proportional to the time differential of a rotationvelocity 742 of the rotator. When an operation is performed at theoperation point A 734 and the operation point B 735, the torquesensation 744 is perceived. The torque 743 is physically returned to aninitial state 748 in one cycle, and an integral value thereof is zero.However, the sensory integral value of the torque sensation 744 as thesensory quantity does not necessarily become zero. By suitably selectingthe operation point A 734 and the operation point B 735, and by suitablysetting an operation point A duration time 745 and an operation point Bduration time 746, the torque sensation can continue to be freelypresented in an arbitrary direction.

The above is established also when the sensory characteristic 731exhibits nonlinear characteristics of an exponential function case orthe like. Also in the case where the sensory characteristic 731 of FIG.10C has a threshold value as in the sensory characteristic 231 of FIG.3A, a torque sensation similar to that of FIG. 3B occurs, and a torquesensation can continue to be intermittently presented only in onedirection.

FIGS. 11A to 11D are explanatory views of an eccentric rotatorapplicable to the rotator of the haptic presentation device of theembodiment, and are views showing a haptic information presentationmethod of a vibration sensation, torque sensation, and force sensationby suitable synchronization of rotation directions and phases of both aneccentric rotator A 812 and an eccentric rotator B 813.

FIG. 11B schematically shows a case where both the eccentric rotator A812 and the eccentric rotator B 813 of FIG. 11A are synchronouslyrotated in the same direction. As a result of the synchronous rotation,the eccentric rotations are combined. FIG. 11C schematically shows acase where both the eccentric rotator A 812 and the eccentric rotator B813 of FIG. 11A are synchronously rotated with a phase delay of 180degrees and in the same direction. As a result of the synchronousrotation, the torque rotation without eccentricity can be formed.

FIG. 11D schematically shows a case where both the eccentric rotator A812 and the eccentric rotator B 813 of FIG. 11A are synchronouslyrotated in the opposite directions. As a result of the synchronousrotation in the opposite directions, a force to linearly generate simpleharmonic oscillations in an arbitrary direction can be synthesized.

FIG. 12A is a view showing a method of changing a vibration intensity ofan eccentric vibration by suitably synchronizing the rotation directionsand phases of both the eccentric rotator A 822 and the eccentric rotatorB 823 in FIG. 11B. A phase difference (for example, a phase difference0° 851, a phase difference 90° 852, a phase difference 180° 853) ofrotations of both the eccentric rotator A 822 and the eccentric rotatorB 823 is adjusted, and resultant barycenters (854, 855, 856) of the twoeccentric rotators, and barycenter moment lengths (857, 858, 859)between the rotation centers of the rotators and the resultantbarycenters are suitably changed, so that the vibration intensity of theeccentric vibration can be changed without changing the rotationvelocities of the eccentric rotators (822, 823). By this, the vibrationfrequency and the vibration intensity can be independently controlled.

On the other hand, in an eccentric rotator used in a manner mode of acellular phone or the like, the vibration intensity is increased byincreasing the rotation velocity, and the vibration frequency and thevibration intensity can not be independently controlled.

FIG. 12B is a view showing a method in which the rotation directions ofboth the eccentric rotator A 842 and the eccentric rotator B 843 in FIG.11D are suitably inverted, so that the intensity of a force and/or aforce sensation and the intensity of a vibration and/or a vibrationsensation are changed. By inverting the rotation direction in suitablephases (for example, phase 0° 861, phase 45° 862, phase 90° 863, phase135° 864, phase 180° 865) of both the eccentric rotator A 842 and theeccentric rotator B 843, amplitudes (866, 867) of vibrations aresuitably changed, and the intensity of a force and/or a force sensationcan be made variable without changing the rotation velocities of theeccentric rotators (842, 843). By this, the frequency and the intensityof the force and/or the force sensation can be independently controlled.

In the description of FIGS. 11A to 11D, 12A, and 12B, although therotation axes of both the eccentric rotators are represented on the sameaxis, it is not inevitable that they are on the same axis, and therotation axes have only to be parallel to each other, inclusive of thecase where they are on the same axis.

FIG. 13 is a view showing a haptic presentation device 1301 in whichboth the eccentric rotator A 812 and the eccentric rotator B 813 aremade one pair and three such pairs are arranged in an orthogonalcoordinate system. Reference numeral 1310 in the drawing denotes aneccentric rotator; and 1311, a motor to drive it. By arranging theplural eccentric rotators in the three-dimensional space, the vibrationsensation, the torque sensation, and the force sensation shown in FIG.11B to FIG. 11D can be presented in an arbitrary three-dimensionaldirection. The arrangement of the orthogonal coordinate system is anexample for presentation in the three-dimensional direction.

Applied Example 1

FIG. 14 is a view showing a sheet-shaped eccentric rotator array 880 inwhich one of the eccentric rotator 711 of FIG. 10A, the twin eccentricrotator 811 of FIG. 11A, and the twin eccentric rotator arranged in thethree-dimensional space of FIG. 13 is arranged like a sheet in atwo-dimensional plane. A practicing method of a drive portion of thetwin eccentric rotator may be a molecular motor or a piezoelectricelement, and anything may be used as long as an objective physicalquantity can be presented.

FIG. 15 is a view showing a glove-shaped eccentric rotator array 890 inwhich the sheet-shaped eccentric rotator array 880 is formed into aglove shape. By suitably controlling the rotation of each eccentricrotator, the vibration sensation, torque sensation, and force sensationof various patterns in space and time can be presented onto a palm.

Incidentally, the sheet-shaped eccentric rotator array 880 and theglove-shaped eccentric rotator array 890 are merely examples of theembodiment, and the embodiment can be applied to clothes and wearablehaptic information presentation, inclusive of a case where the eccentricrotator array is three-dimensionally arranged.

FIGS. 16A to 16D are views showing a haptic information presentationmethod in which a sensory characteristic relating to a haptic sense isused, and rotations of both an eccentric rotator A 912 and an eccentricrotator B 913 are phase synchronized.

Here, FIG. 16B schematically shows a case where both the eccentricrotator A 912 and the eccentric rotator B 913 of FIG. 16A aresynchronously rotated with a phase delay of 180 degrees in the samedirection. As a result of the synchronous rotation, the torque rotationwithout eccentricity can be formed.

FIG. 16C schematically shows a case where a sensory characteristic 931is a logarithmic function characteristic, and similarly to the sensorycharacteristic 211, the sensory characteristic 931 indicates that asensory quantity 933 has a nonlinear characteristic of a logarithm orthe like with respect to a physical quantity 932 as a stimulus. Whenconsideration is given to a case where a positive torque is generated atan operation point A 934 on the sensory characteristic 931, and anegative torque in the reverse direction is generated at an operationpoint B935, a torque sensation 944 is represented as in FIG. 16D. Atorque 943 is proportional to the time differential of a rotationvelocity 942 of a rotator. When an operation is performed at anoperation point A 934 and an operation point B 935, the torque sensation944 is perceived.

The torque 943 is physically returned to an initial state 948 in onecycle, and an integral value thereof is zero. However, a sensoryintegral value of the torque sensation 944 as a sensory quantity doesnot necessarily become zero. By suitably selecting the operation point A934 and the operation point B 935 and by suitably setting an operationpoint A duration time 945 and an operation point B duration time 946,the torque sensation can continue to be freely presented in an arbitrarydirection.

The above is established also when the sensory characteristic 931exhibits a nonlinear characteristic of an exponential function case orthe like. Also in the case where the sensory characteristic 931 of FIG.16C has a threshold value like the sensory characteristic 231 of FIG.3A, a torque sensation similarly to that of FIG. 3B occurs, and thetorque sensation can continue to be intermittently presented only in onedirection.

FIGS. 17A to 17D are views showing a haptic information presentationmethod in which a sensory characteristic relating a haptic sense isused, and the rotations of both an eccentric rotator A 1012 and aneccentric rotator B 1013 are phase synchronized in the oppositedirections.

FIG. 17B schematically shows a case where both the eccentric rotator A1012 and the eccentric rotator B 1013 of FIG. 17A are synchronouslyrotated in the opposite directions. As a result of the synchronousrotation in the opposite directions, a force to linearly generate simpleharmonic oscillations in an arbitrary direction can be synthesized. FIG.17C schematically shows a case where a sensory characteristic 1031 is alogarithmic function characteristic, and similarly to the sensorycharacteristic 211, the sensory characteristic 1031 indicates that asensory quantity 1033 has a nonlinear characteristic of a logarithm orthe like with respect to a physical quantity 1032 as a stimulus. Whenconsideration is given to a case where a positive force is generated atan operation point A 1034 on the sensory characteristic 1031 and anegative force in the reverse direction is generated at an operationpoint B 1035, a force sensation 1044 is represented as in FIG. 17D. Amagnitude 1042 of a resultant rotation velocity of both the eccentricrotators is the combination of rotation velocities of the eccentricrotator A 1012 and the eccentric rotator B 1013, and a force 1043 isproportional to the time differential of the magnitude 1042 of theresultant rotation velocity of both the eccentric rotators. When anoperation is performed at an operation point A 1034 and an operationpoint B1035, a force sensation 1044 is perceived. The force 1043 isphysically returned to an initial state 1048 in one cycle, and anintegral value is zero. However, a sensory integral value of the forcesensation 1044 as a sensory quantity does not necessarily become zero.The force sensation can continue to be freely presented in an arbitrarydirection by suitably selecting the operation point A 1034 and theoperation point B 1035, by suitably selecting an operation point Aduration time 1045 and an operation point B duration time 1046, and byadjusting the synchronous phases of both the eccentric rotator A 1012and the eccentric rotator B 1013.

The above is established also when the sensory characteristic 1031exhibits a nonlinear characteristic of an exponential function case orthe like. Also in the case where the sensory characteristic 1031 of FIG.17C has a threshold value like the sensory characteristic 231 of FIG.3A, a force sensation similar to that of FIG. 3B occurs, and the forcesensation can continue to be intermittently presented only in onedirection.

FIGS. 18A to 18F are schematic views of a method in which thepresentation method of the force sensation using both the eccentricrotators shown in FIGS. 17A to 17D is used to present a pushing feelingby oneself (FIG. 18A), an expansion feeling (FIG. 18B), a pressurefeeling (FIG. 18C), a pulling feeling by oneself (FIG. 18D), a pulledfeeling from outside (FIG. 18E), and a pushed feeling from outside (FIG.18F).

In the pushing feeling by oneself (FIG. 18A), a twin eccentric rotator1111 and a twin eccentric rotator 1112 are used on the front and back ofa palm, and a force 1113 and a force 1114 are presented, so that afeeling such as to push an object by oneself with the front of the palmcan be presented.

The expansion feeling (FIG. 18B), the pressure feeling (FIG. 18C), thepulling feeling by oneself (FIG. 18D), the pulled feeling from outside(FIG. 18E), and the pushed feeling from outside (FIG. 18F) can also besimilarly presented.

FIG. 19 is a view showing a method of presenting a force 1173, a shearforce 1174, and a torque 1175 to a palm and a finger tip by suitablycontrolling the rotation of each twin eccentric rotator 1172 on 1171 ofthe groove-shaped eccentric rotator arrays 1170.

Besides, as shown in FIG. 20, by presenting a torque in the samedirection on a skin-shaped eccentric rotator array 1181 round around afinger, a resultant torque 1185 to twist the whole finger can bepresented.

Further, as shown in FIG. 21, by suitably adjusting the spatialintensity distribution of a resisting force 1193 presented to a palm,and by presenting a spherical resisting force 1191, a cubic resistingforce 1192 or the like, a three-dimensional shape feeling of a sphere, acubic or the like, or a tactile sensation such as an elastic feeling ora soft feeling can be presented to the palm.

Further, as shown in FIG. 22, by temporally changing the spatialintensity distribution of the resisting force 1193 presented onto thepalm, it is possible to present a feeling 1195 in which a force istransmitted on the palm, a feeling in which a object rotates on thepalm, and a force sensation 1196 in which a force passes through thepalm. Similarly, by changing the shear force, the torque and the like,the texture of a surface of a virtual object, such as surface roughness,can be presented.

According to the presentation methods shown in FIGS. 19 to 22, bysuitably changing the space distribution of the force sensation inconformity with the movement of the palm, it is possible to presentvarious haptic information relating to the object, such as theexistence, shape, elasticity, texture and the like of the virtualobject.

(Operation Principle 2)

FIGS. 23A to 23D are views showing a vibration haptic informationpresentation method in an arbitrary direction using a method of changinga sensory characteristic by a masking effect relating to a haptic sense,which is an example of a control method of continuously orintermittently presenting haptic information of at least one of avibration sensation, a force sensation and a torque sensation in anarbitrary direction.

The sensory characteristic is masked by a masking vibration 1216, and aforce sensation 1224 is decreased. This masking vibration can begenerated by synchronizing the rotation velocity 1022 of the eccentricrotator A with the rotation velocity 1023 of the eccentric rotator A inFIG. 17B and by fluctuating the velocities. FIG. 23A schematically showsthis, and the force sensation 1224 perceived at this time is representedas in FIG. 23B. A force 1213 is proportional to the time differential ofa magnitude 1212 of a resultant rotation velocity of the two eccentricrotators.

At this time, an initialization time 1215 in which the rotation velocity1212 of the rotator is initialized is shortened and when it becomesshorter than a certain specific time as shown in FIG. 23C, a criticalfusion occurs in which although a negative force due to theinitialization physically exists, it is felt as if a force iscontinuously presented like a force sensation 1244.

The above occurs also in the case where a maskee and a masker aredifferent rotators, and a similar continuous presented sensation occursnot only in the case of the force but also in the case of a torque.

In the actual use of the haptic information presentation system, since aposture change of a torque presentation device by a human unconsciousmotion is felt as an inertial force due to the Coriolis force or gyroeffect, it is necessary that the inertial force of the rotator itself issuppressed to the utmost, and a large torque can also be presented. Inthe following, this inertial force will be considered.

As methods of generating a torque sensation, there are a method ofaccelerating and decelerating the rotation velocity of a rotation bodyhaving an inertia moment, and a method of turning a rotation body aroundan axis orthogonal to its rotation axis. From the viewpoint of dynamicsof mechanism, the method is roughly classified into following two types,namely, a rotator posture control type (hereinafter referred to as agyroscope type 1311) and a resultant angular momentum vectordifferential type 1312 (FIGS. 24A and 24B).

First, the gyroscope type 1311 using a gyroscope to control the postureof a rotator will be described. A gimbal structure is used, and withrespect to the posture of the rotator turning at a constant angularvelocity ω₀, turning angles θ₁ and θ₂ around two gimbal shafts arechanged so that torque can be generated. An angular momentum L₀ at thetime when the rotation body with an inertia moment I is rotated at anangular velocity ω₀ is expressed by

L ₀ =Iω ₀.

At this time, in view of the direction in which the torque is generated,a torque vector τ at the time when an angular momentum vector L (|L|=L₀)having a constant magnitude is turned at an angular velocity ω isexpressed by

τ=ω×L, where ω=dθ/dt.

Next, the resultant angular momentum vector differential type 1312 tocontrol the time change of the resultant angular momentum vector will bedescribed. Rotation speeds ω_(x), ω_(y) and ω_(z) of three rotatorsfixed to an x-axis, a y-axis and a z-axis are independently controlled,and the angular momentums of the rotators are combined, so that anangular momentum vector can be formed in an arbitrary direction. Whenthis is suitably controlled, a torque can be formed in an arbitrarydirection. A torque vector at the time when the angular momentum vectorL is changed is expressed as follows.

When an inertia moment around each axis is made I_(i), the angularmomentum L_(i) of rotation at an angular velocity ω_(i) around each ofthe x-axis, y-axis and z-axis is expressed by

L _(i) =I _(i)ω_(i) , i=x,y,z.

When unit vectors in the x-axis, y-axis and z-axis directions are madei, j and k, the resultant angular momentum vector composed of theangular momentums around the respective axes is expressed by

L=L _(x) i+L _(y) j+L _(z) k.

The time differential of the resultant angular momentum vector is thetorque vector τ.

τ=dL/dt

Accordingly, by changing the ratio ω_(x):ω_(y):ω_(z) of the angularspeeds in the x-axis, y-axis and z-axis directions, the direction of theangular momentum vector generated can be controlled in an arbitrarydirection. This method has merits that the control is easy, and variousthree-dimensional force sensations can be presented. Incidentally, thetorque felt by a person has the same magnitude as this torque vector τand the opposite direction by the action-reaction law (Newton's thirdlaw).

When reference is made to FIG. 25,

Where, in the case where |L|=L₀ is constant, and the direction of theresultant angular momentum vector L is turned at ω=dΩ/dt, the torquevector is expressed by

$\begin{matrix}{\tau = \frac{L}{t}} \\{{= {\omega \times L}},}\end{matrix}$

and is coincident with that of the gyroscope type. This indicates thatalthough the torque which can be presented in the gyroscope type can bepresented by the proposed method, the converse is not.

Now, in the case where consideration is given to the use in theso-called human navigation, the motion of the posture of a usergenerates a change of angular momentum vector, and there is apossibility that an unintentional torque is presented. Then,consideration is given to a torque generated by the resultant angularmomentum vector L turning on a turning coordinate system O_(Ω) turningat an angular velocity vector Ω with respect to the inertia coordinatesystem O.

The equation of motion in the inertia coordinate system O 1330 and theturning coordinate system O_(Ω) 1331 is expressed by

$\begin{matrix}{\tau = \lbrack \frac{L}{t} \rbrack_{O}} \\{= {\lbrack \frac{L}{t} \rbrack_{O\; \Omega} + {\Omega \times {L.}}}}\end{matrix}$

As shown in FIG. 25, a torque felt by a person through the temporalchange of a resultant angular momentum vector 1332 on the palm of theturning person is the sum of a torque [dL/dt]_(OΩ) by the temporalchange of the resultant angular momentum vector 1332 in the turningcoordinate system O_(Ω) 1331 and the precession torque Ω×L. The term“precession” means that when a torque is applied to a gyro from outside,the spin axis of the gyro is turned in a direction orthogonal to theapplied torque. The cause of the generation of the precession torquehere is the turning of the coordinate axis. That is, even in the casewhere there is no temporal change of the angular momentum L on the palmof the user when viewed from the user, when the user turns at theangular velocity Ω as shown in FIG. 25, the precession torque Ω×L isfelt.

Here, in the case where the navigation is performed, there occurs a casewhere the change of the posture of the user is suppressed. This isbecause when the body of the user is turned in the horizontal direction,the precession torque well known in a gyrocompass is exerted on theangular momentum L_(x)i orthogonal to the angular velocity Ω and L_(y)j,and functions to suppress the turn Ω of the body of the user. Althoughthis precession torque prevents the free movement of the user, it has aneffect to suppress the fluctuation of the torque presentation device dueto the walking of the user. Besides, when the arm of the user is movedin the vertical direction, a similar precession torque is exerted on theangular momentum L_(x)i and L_(z)k. That is, when the user moves thebody, the torque is exerted, and the same direction is always indicatedlike the gyrocompass.

The control feature of this embodiment is to control the temporal changeof the resultant angular momentum vector L1332, and the easiness of thecontrol is a great merit. By abruptly changing L in the vicinity ofzero, a large torque [dL/dt]_(OΩ) is generated, and the precessiontorque (Ω×L) can be suppressed to be low. By this, the navigation isenabled without hindering the movement of the user.

On the other hand, in the case where the torque presentation device isswayed by the movement of the user and a difficulty occurs, bytemporally changing L in the vicinity of the resultant angular momentumvector L 1332 having a suitable magnitude, the torque can be presentedwhile the sway of the torque presentation device is suppressed.

On the other hand, in the case where the gyroscope type 1311 is used,

$\begin{matrix}{\tau = {\lbrack \frac{L}{t} \rbrack_{O\; \Omega} + {\Omega \times L}}} \\{= {{\omega \times L} + {\Omega \times L}}}\end{matrix}$

is established. In order to present a large torque, a large angularmomentum vector L is required, and as a result, a large precessiontorque is generated without fail.

Especially, for the use in the so-called human navigation,miniaturization is required to such a degree as to enable internal orexternal mounting to a cellular phone or a PDA. Here, consideration willbe given to a torque presentation method and operation principle in thecase where internal mounting to a cellular phone is performed.

According to the number of dimensions in which a torque is actuallygenerated, a classification into four can be made as shown in FIGS. 26Ato 26D.

In a conventional cellular phone, a vibration has been used to inform anincoming call. In the navigation by a recent cellular phone, when astreet corner approaches, attention is first aroused by vibration, andthen, the direction in which a turn is to be made is indicated by voice.That is, since attention is aroused by the vibration, and directioninformation is not presented, this is defined as a Zero dimension(vibration 1341).

Besides, in the direction presentation on a plane space as in thenavigation or the like, two dimensions are sufficient as shown in FIG.26C, and a haptic navigation system can be constructed by internalmounting to a cellular phone or the like. FIG. 26D shows a model whichadopts an opposed type twin motor system newly invented in view of thebalance of the center of gravity and the like.

Next, merits of three-dimensional torque presentation will be described.

As described above, since the Ω×L component hinders the motion of theuser, it has been proposed that the operation is performed at thecontrol point where L is in the vicinity of zero. However, with respectto the Lz component, although the precession torque is not exerted inthe turn on the horizontal surface, such as the turning of the user, theposture of the torque presentation device becomes stable in the verticalmotion of the arm by the conservation of the rotation axis like avertical gyro in an airplane (see FIG. 27).

That is, the arm is lowered, the turning vector Ω is generated around anelbow as a fulcrum, a torque τ_(x) is generated in the torquepresentation device and in the x direction on the palm so as to turn theL_(z) vector, and a torque is generated in the direction of cancelingthe turning vector Ω. It is conceivable that the torque around the elbowas the fulcrum, which suppresses the vertical movement of the torquepresentation device, stabilizes the position of the torque presentationdevice.

When this is Lx, like a gyroscope (an ‘CHUKYU GOMA’) which does not fallbut turns while keeping the horizontal, it is conceivable that while thearm is turning on the horizontal plane, the torque to cancel the gravityis generated to float the torque presentation device, and reduces theuser's fatigue caused by continuing to hold it.

(Operation Principle 3)

Hereinafter, a description will be given to a haptic presentation devicein which the haptic presentation device 1301 shown in FIG. 13 is furtherimproved.

FIG. 28 is a view showing a two-dimensional sectional view of a hapticpresentation device 2801 in which similarly to the haptic presentationdevice 1301 of FIG. 13, two facing eccentric rotators are made one pairand three such pairs are arranged in an orthogonal coordinate system. Inthe haptic presentation device 2801, an eccentric rotator (inertia;inertial body) 2804, a motor 2803 and the like are arranged in aspherical housing 2807, and FIG. 28 is a sectional view taken along thecenter of the spherical housing 2807. The eccentric rotator 2804 and themotor 2803 are united, and a rotating shaft 2802 of the motor is fixedto a joint 2810 of the housing 2807. That is, the rotating shaft 2820 isfixed, and similarly to the rotation of a normal motor, a magnet of arotator of the motor integral with the rotating shaft 2802 and anelectromagnet of the main body of the motor 2803 repel each other andthe motor 2803 is rotated. By this, in the haptic presentation device2801, a rotation body in which the eccentric rotator and the motor areunited is rotated. Incidentally, it would be apprehensible for one ofordinary skill in the art that a terminal for power supply to the mainbody of the motor 2803 is fabricated so that the polarity of the contactis kept even if the main body of the motor 2803 is rotated (not shown).Thus, as compared with the haptic presentation device 1301 of FIG. 13 inwhich the motor is fixed to the housing and only the eccentric rotatoris rotated, in the haptic presentation device 2801, the mass of therotation portion can be made large (that is, the inertia moment can bemade large), and the efficiency of the mechanical operation(presentation of vibration, torque and force) by the rotation of therotation body is improved. Further, as the weight of the housing 2807 isreduced, the efficiency is improved.

Incidentally, the haptic presentation device 2801 shown in FIG. 28 isnot limited to the case where the eccentric rotator is applied, but isnaturally applicable to a rotator which is not eccentric. Further,although the spherical housing is exemplified for the hapticpresentation device 2801, the principle of the haptic presentationdevice 2801 can be naturally applied to a housing other than thespherical shape.

FIG. 29 is a view showing a two-dimensional sectional view of a hapticpresentation device 2901 in which the haptic presentation device 2801 ofFIG. 28 is further improved. The haptic presentation device 2901includes a turbine fin 2908 arranged in a spherical housing 2807 and afluid (gas flow or liquid flow) 2909, and FIG. 28 is a sectional viewtaken along the center of the spherical housing 2807. The turbine fin2908 is provided in a rotation body in which an eccentric rotator 2804and a motor 2803 are united. By this, in the haptic presentation device2901, when the rotation body in which the eccentric rotator and themotor are united is rotated, the turbine fin stirs the fluid 2909. Thus,as compared with the rotation of the rotation body of the hapticpresentation device 2801 of FIG. 28, in the haptic presentation device2901, the load resistance is applied to the rotation of the turbine finby the circulation of the fluid, and as a result, since the effectiveinertia moment of the rotation body is increased, the efficiency of themechanical operation (presentation of vibration, torque and force) bythe rotation of the rotation body is improved. Further, as the relativeweight of the housing 2807 is reduced, the efficiency is improved.Besides, the load resistance can be applied to the rotation of theturbine fin by providing a narrowing hole 2910 to narrow the section ofa liquid flow passage in a route for circulation of the fluid.

FIG. 30 is a view showing a two-dimensional sectional view of a hapticpresentation device 3001 in which the haptic presentation device 2901 ofFIG. 29 is further improved. The haptic presentation device 3001includes an air 3009 in a spherical housing 3007, holes 3010 areprovided in the housing 3007 to be opposite to turbine fins, and FIG. 30is a sectional view taken along the center of the spherical housing3007. As a result that the holes 3010 are provided in the housing 3007,in the haptic presentation device 3001, according to the control of amotor, for example, air flows 3002 a and 3002 b flowing through thehaptic presentation device 3001 from the left to the right of FIG. 30are generated. In this case, as compared with the haptic presentationdevice 2901 of FIG. 29 in which a force sensation continues to bepresented in the left direction in the drawing, in the hapticpresentation device 3001, the force of jet of the air flow 3002 b isalso added, and the efficiency of continuing to present the forcesensation in the left direction in the drawing is improved.Incidentally, it would be obvious for one skilled in the art that theclosing and opening of these holes is controlled (not inevitable) by avalve 3010 and a control circuit, so that the flow rate and flow speedcan be controlled.

The turbine fin is a variable fin which can control a relation between arotation direction and a blast direction, and even if the torquedirection resulting from the rotation is the same direction, the flowingdirection of an air current can be controlled by changing the angle ofthe fin. Besides, it may be fixed according to a use.

Incidentally, rotators of two motors, motor bodies, eccentric rotationbodies, two turbine fins in which the generating directions of aircurrents are opposite to each other are mounted to one rotating shaft2802, and the flow direction of the air current may be controlled byselecting the turbine fin to be rotated (not shown).

Applied Example 2

FIG. 31 is a view showing another applied example of the groove-shapedeccentric rotator array 890 of FIG. 15 and is a view showing agroove-shaped eccentric rotator array 3110 in which a sheet-shapedeccentric rotator array 3111 is formed into a groove shape. In FIG. 31,rotators are arranged like a grid, and only eccentric rotators 3170 a to3173 a, and 3170 b to 3177 b rotate. By this, by suitably controllingthe rotations of the eccentric rotators 3170 a to 3173 a, and 3170 b to3177 b of the groove-shaped eccentric rotator array 3110, hapticinformation of a virtual twist as a spatial expansion can be presentedonto the palm. In more detail, a large torque is presented in the samedirection by the eccentric rotators 3170 a to 3173 a, so that a largeresultant torque 315 a to twist the center part of the palmcounterclockwise is presented. Besides, a small torque is presented inthe same direction by the eccentric rotators 3170 b to 3177 b, so that aresultant torque 315 b to twist the palm peripheral part clockwise ispresented. By this, a virtual twist haptic sensation is felt in whichthe palm center part is intensely twisted counterclockwise, and the palmperipheral part is weakly twisted clockwise.

FIG. 32 is a view showing a two-dimensional sectional view of a hapticpresentation device 3201 in which the haptic presentation device 2801 ofFIG. 28 is further improved. In the haptic presentation device 3201, acontrol circuit 3205 and an angular acceleration sensor (andgravity/acceleration sensor) 3206 are arranged at the center part of aspherical housing 2807, and FIG. 32 is a sectional view taken along thecenter of the spherical housing 2807. The control circuit 3205corresponds to the control device 4120 of FIG. 41, and the angularacceleration sensor (and the gravity/acceleration sensor) 3206corresponds to the input device 4130 of FIG. 41. Although it is assumedthat the haptic presentation device 3201 of FIG. 32 is a ball in a modeof a baseball ball, it may be a ball with any shape. The angularacceleration sensor 3206 monitors a back spin 3215 generated at therelease when the ball (haptic presentation device 3201) is pitched in adirection denoted by reference numeral 3210 in the drawing. Besides, inthe case of a uniform rotation motion, the gravity direction is detectedby the gravity/acceleration sensor, and since the gravity direction isperiodically changed in the xyz axis components of the sensor, therotation of the ball can be monitored. Incidentally, even if the methodas stated above is not used, when the rotation of the ball can bedetected, another method can be applied. The control circuit 3205analyzes the input information from the angular acceleration sensor (andthe gravity/acceleration sensor) 3206, and controls a motor in thehaptic presentation device 3201 so as to cancel the back spin 3215 ofthe ball (haptic presentation device 3201). Thus, the ball (hapticpresentation device 3201) is not rotated, and becomes a breaking ball(so-called knuckle ball) irregularly swaying and changing by theinfluence of the flow and swirl generated behind it. Similarly, byfreely controlling the rotation and the like, it is possible to realizevarious breaking balls including a curve, a shoot, and a breaking ballwhich is impossible in a real baseball, such as a breaking ball which iscurved and then shoots and drops. Incidentally, the embodiment of FIG.32 can be applied to the haptic presentation device 2901 of FIG. 29.

Reference is again made to the haptic presentation device 3001 of FIG.30. In a conventional haptic presentation device in the VR, its ownweight reduces the original VR effect to be felt by the user. Then, inthe haptic presentation device 3001 of FIG. 30, the air current flowingthrough the haptic presentation device 3001 from the top to the bottomof FIG. 30 is generated by the control of the motor, so that the forceof the jet of the air current toward the bottom reduces the weight ofthe haptic presentation device 3001 itself to be felt by the user, andthe original effect to cause the user to feel the VR can be improved.Similarly, by generating the air current flowing through the hapticpresentation device 3001 from the bottom to the top of FIG. 30, the usercan be made to feel that the weight of the haptic presentation device3001 itself is heavier than actual by the force of the jet of the aircurrent toward the top.

FIGS. 33A and 33B are explanatory views of a pen-shaped device 3301having the built-in haptic presentation device described in theembodiment. The pen-shaped device 3301 is provided with a touch panel3350 on a surface, the touch panel 3350 indicates respective buttoncolumns denoted by reference numerals 3310, 3320, 3330, and 3340 in thedrawing, and each of the button columns includes four buttons. It isintended that the pen-shaped device 3301 of this embodiment is appliedto, for example, a pen-shaped cellular phone. Incidentally, the functionof the touch panel 3350 may be realized by a physical button instead ofthe touch panel. Besides, each of the button columns may include adesired number of buttons instead of the four buttons. Besides, adesired number of button columns may be provided (as examples of these,FIGS. 42A to 42C are provided as supplemental explanation views of FIGS.33A and 33B). Here, although the rotation of 180° is performed from FIG.33A to FIG. 33B and the use is made, virtual operation panels which isthe number of columns exist at intervals of a rotation angle of(360°/the number of columns).

As shown in FIG. 33A, in the case where the user grasps the pen-shapeddevice 3301 and the pen-shaped device 3301 is seen from a directiondenoted by reference numeral 3302, the button columns 3310, 3320 and3330 respectively have buttons of numeral input functions of “1, 4, 7,*”, “3, 6, 9, #” and “2, 5, 8, 0”.

On the other hand, as shown in FIG. 33B, in the case where the userrotates the pen-shaped device 3301 from the state of FIG. 33A by 180°and grasps it, and the pen-shaped device 3301 is seen from a directiondenoted by reference numeral 3302, the buttons “1, 4, 7, *” of thebutton column 3310 respectively become kana input functions of “A, TA,MA, “.”, the buttons “3, 6, 9, #” of the button column 3320 respectivelybecome kana input functions of “SA, HA, RA, (enter)”, and the buttons

┌⋄,

,

,

┘

of the button column 3340 become kana input functions of “KA, NA, HA,WA”. That is, in the case of this example, the realization is performedwith four rows and four columns, and as the front side of the device,the first column, the second column and the third column are used, andas the back side of the device, the third column, the fourth column, andthe first column are made usable.

FIGS. 34A and 34B are views showing a rough structure of the pen-shapeddevice 3301. The pen-shaped device 3301 includes a haptic presentationdevice 3410, a control circuit 3420, a posture sensor 3430 based on awell-known acceleration sensor, a pen-shaped device control circuit3440, and a touch panel 3350. The control circuit 3420 corresponds tothe control device 4120 of FIG. 41, and the posture sensor 3430corresponds to the input device 4130 of FIG. 41. The pen-shaped devicecontrol circuit 3440 judges, based on the input from the posture sensor3430, in which state of FIG. 33A and FIG. 33B the user sees thepen-shaped device 3301. As in FIG. 33A or FIG. 33B, the input functionsof the respective button columns denoted by reference numerals 3310,3320, 3330 and 3340 are determined, and the corresponding buttons aredisplayed on the touch panel. Besides, the pen-shaped device controlcircuit 3440 processes the input from the touch panel 3350, and in thecase where for example, the button “0” is depressed by the user, theinput of numeral 0 is processed. Since a circuit and its control toprocess the input from the posture sensor 3430 and the input from thetouch panel 3550, such as the pen-shaped device control circuit 3440,are well-known for one skilled in the art, the detailed descriptionwould be unnecessary.

Here, for example, in the case where the button “0” is depressed by theuser, the posture sensor 3430 detects the posture change toward adirection 3302 in FIG. 34B, or the pressure sensor of the touch paneldetects the motion of the depressing finger, and the control circuit3420 analyzes the input information from the posture sensor 3430,controls the motor in the haptic presentation device 3410, and giveshaptic feedback so as to present the movement in the directions 3460 and3302, so that a feeling such as to press an actual button is presentedin spite of the virtual button on the touch panel. Thus, the hapticpresentation device 3410 presents the force in the directions 3460 and3302, and causes the user to feel the depression of the button “0”.

Besides, for example, in the case where the button “0” is rubbed by theuser from the top to the bottom, the posture sensor 3430 detects aposture change toward a direction 3470 in FIG. 34B, or the sensor of thetouch panel detects the movement of the finger, and the control circuit3420 analyzes input information from the posture sensor 3430 and thetouch panel sensor, controls the motor in the haptic presentation device3410, and gives haptic feedback the movement in the directions 3470 and3480, so that a feeling such as to operate an actual scroll wheel orjoystick is presented in spite of the virtual wheel on the touch panel.Thus, the haptic presentation device 3410 presents the force in thedirections 3470 and 3480, and causes the user to feel the operationfeeling of the virtual scroll wheel.

FIG. 35 is an explanatory view of a pointer 3501 having a built-inhaptic presentation device described in the embodiment, and is a viewshowing a rough structure of the pointer 3501. The pointer 3501 includesa haptic presentation device 3510, a control circuit 3520, a posturesensor (or a position sensor or an acceleration sensor) 3530, a pointercontrol circuit 3540, a switch 3550, and a laser light source 3590. Thecontrol circuit 3520 corresponds to the control device 4120 in FIG. 41,and the posture sensor 3530 and the switch 3550 correspond to the inputdevice 4130 in FIG. 41. The pointer control circuit 3540 makes a controlso that when the switch 3550 is turned ON, a laser beam 3580 is emittedfrom the laser light source 3590. Since a circuit to control the laserlight source 3590 to emit the laser beam 3580, such as the pointercontrol circuit 3540, and its control are well known for one skilled inthe art, the detailed description would be unnecessary.

Here, in the case where the user depresses the switch 3550, and thepointer 3501 is swayed in a direction 3570, the posture sensor 3530detects the posture change toward the direction 3570, and the controlcircuit 3520 analyzes input information from the posture sensor 3530,and controls a motor in the haptic presentation device 3510 so as tosuppress the movement of the haptic presentation device 3510 toward thedirection 3570. Thus, the haptic presentation device 3510 presents aforce in a direction 3590, and causes the user to feel a resisting forceagainst the sway direction 3570. By this, for example, in the case wherethe laser beam 3580 is irradiated to an object 3560 having a laser beamtracking function, and the object 3560 is moved from the left to theright in FIG. 35 while being pointed, the user is made to feel theresisting force (force in the direction 3590) against the direction 3570in which the object 3560 is moved, and as a result, such a feeling thatthe user grasps the object 3560 and moves it is given. Here, althoughthe selection of the object 3560 and the grasping intention are informedto the pointer control circuit 3540 by using the laser light source 3590and the laser beam tracking function, no limitation is made to this aslong as the selection and the grasping intension can be inputted.

FIG. 36 is an explanatory view of a baton-type controller 3601 having abuilt-in haptic presentation device described in the embodiment, and isa view showing a rough structure of the baton-type controller 3601. Thebaton-type controller 3601 is a controller used in a well-known(conducting) music game of a home video game machine. The baton-typecontroller 3601 includes a haptic presentation device 3610, a controlcircuit 3620, a posture sensor 3630, and a controller control circuit3640. The control circuit 3620 corresponds to the control device 4120 inFIG. 41, and the posture sensor 3630 and the controller control circuit3640 correspond to the input device 4130 in FIG. 41. The controllercontrol circuit 3640 transmits/receives a signal 3609 to/from a gamemachine 3606, processes input information from the posture sensor 3630to transmit it to the game machine 3606, and receives an instructionfrom the game machine 3606. Since a circuit to perform a control tocommunicate with the game machine 3606, such as the controller controlcircuit 3640, and its control are well-known for one skilled in the art,the detailed description would be unnecessary. Incidentally, in FIG. 36,although a signal of a wired system is exemplified as the signal 3609,no limitation is made to this, and the signal 3609 may be a signal in awireless system.

Here, when the user plays the music game of a monitor 3605, in the casewhere the baton-type controller 3601 is swayed in a direction 3607, theposture sensor (or pressure sensor) 3630 detects the grasping way andthe posture change toward the direction 3607, and the controller controlcircuit 3640 processes the input information from the posture sensor3630, and transmits it to the game machine 3606. The game machine 3606processes the music game based on the information of the posture changefrom the posture sensor 3630, and the performance of an orchestra in themusic game, such as a tempo, rhythm, and breath, is changed by theswinging way of the baton of the conductor. In the case where it isjudged that the music at that time exceeds the performance speed atwhich a person can play and the dynamic range of a playing method, asuppression signal is transmitted to the controller control circuit3640. When receiving the suppression signal, the controller controlcircuit 3640 transmits the information to the control circuit 3620. Thecontrol circuit 3620 analyzes the input information from the controllercontrol circuit 3640, and controls a motor in the haptic presentationdevice 3610 so as to suppress the motion of the haptic presentationdevice 3610 toward the direction 3607. Thus, the haptic presentationdevice 3610 presents a force toward a direction 3660, and causes theuser to feel a resisting force against the swing direction 3607. Bythis, in the music game, the music does not exceed the performance speedat which a person can play and the dynamic range of the playing method,and the music game becomes more real.

Modified Examples

Hereinafter, modified examples of the operation principles 1 to 3 willbe described.

FIG. 37 is a view showing a rough structure of a modified example of thehaptic information presentation method of FIG. 11D described in theembodiment. In FIG. 11D, the two eccentric rotators are synchronouslyrotated in the opposite directions, and the force to linearly generatethe simple harmonic oscillations in an arbitrary direction issynthesized. FIG. 37 is a view showing a piezoelectric matrix 3730 as anoscillator in which instead of the eccentric rotators, piezoelectricelements 3701 are used. A piezoelectric array 3710 is constructed inwhich the plural piezoelectric elements 3701 are laminated in anx-direction in the drawing, a piezoelectric array 3720 is constructed inwhich the plural piezoelectric elements 3701 are laminated in ay-direction in the drawing, and the piezoelectric arrays 3710 and 3720are alternatively arranged in the x and the y directions in theoscillator.

A haptic information presentation method using the piezoelectric matrix3730 of FIG. 37 is a method in which the piezoelectric matrix 3730 isused instead of the rotator 4180 in FIG. 41. In the structure as statedabove, the control device 4120 of FIG. 41 controls the voltage in the xdirection in FIG. 37 to control simple harmonic oscillations 3750 in thex direction, and controls the voltage in the y direction in FIG. 37 tocontrol simple harmonic oscillations 3740 in the y direction. Although asufficient amplitude is not obtained by the single piezoelectric element3701, in the structure of FIG. 37, the piezoelectric arrays 3710 and3720 are constructed, so that a large amplitude can be produced.According to the method of FIG. 37, in the haptic presentation device4110 of FIG. 41, a stepping motor and a servo motor required for drivingthe rotator 4180 become unnecessary, and also in the control device4120, a control circuit for the motors becomes unnecessary, and thestructure of the combination of the haptic presentation device and thecontrol device becomes simple.

Further, it would be understood for one skilled in the art that when thepiezoelectric matrix 3730 of FIG. 37 is expanded, and a piezoelectriccube is formed in which the piezoelectric arrays 3710 and 3720 arealternately arranged in the x, y and z directions, an oscillator can beformed in which simple harmonic oscillations in the x, y and zdirections can be controlled. The method of FIG. 37 can be applied to,for example, a mechanism for generating a force in a desired directionby a controller of a game machine. Here, the arrangement pattern of thepiezoelectric elements 3701 is arbitrary as long as the simple harmonicoscillations in the x, y and z directions can be generated.

FIGS. 38A and 38B are also views showing a rough structure of anothermodified example of the haptic information presentation method of FIG.11D described in the embodiment. FIG. 38A shows a cubic oscillator 3801using a speaker structure instead of an eccentric rotator, and theoscillator 3801 includes magnets 3810 b, 3810 c, 3810 m and the like ofthe speaker at the centers of the respective planes. Incidentally, themagnets 3810 b, 3810 c, 3810 m and the like are not restricted to thecenters of the respective planes, but may be located at arbitrarypositions on the planes.

FIG. 38B is a view showing a sectional view in a case where in FIG. 38A,the oscillator 3801 is cut along a horizontal section 3820 passingthrough the barycenter and is seen. The oscillator 3801 includes, at therespective planes, cones 3840 a, 3850 a, 3840 b, 3850 b, 3840 c, 3850 c,3840 d and 3850 d of the speaker combined with the magnets 3810 a, 3810b, 3810 c and 3810 d, respectively.

The haptic information presentation method using the oscillator 3801 ofFIGS. 38A and 38B is a method using the oscillator 3801 instead of therotator 4180 in FIG. 41. In the structure as stated above, the controldevice 4120 of FIG. 41 controls, for example, the voltage of the magnetin the x direction in FIG. 38B to control simple harmonic oscillations3870 in the x direction, and controls the voltage of the magnet in the ydirection in FIG. 38B to control simple harmonic oscillations 3860 inthe y direction. In the structure of FIGS. 38A and 38B, a largeamplitude caused by the magnets of the speaker and by the vibrations ofthe cones can be produced. According to the method of FIGS. 38A and 38B,in the haptic presentation device 4110 of FIG. 41, a stepping motor anda servo motor required for driving the rotator 4180 become unnecessary,and also in the control device 4120, a control circuit for the motorsbecomes unnecessary, and the structure of the combination of the hapticpresentation device and the control device becomes simple. Here, thestructure of the cones 3840 a, 3850 a, 3840 b, 3850 b, 3840 c, 3850 c,3840 d and 3850 d of the speaker combined with the respective magnets3810 a, 3810 b, 3810 c and 3810 d may not be adopted, and as long as thesimple harmonic oscillations in the x, y and z directions can begenerated, no limitation is made particularly to the combination of themagnets and the cones, and a structure of only magnets may be adopted.

FIGS. 39A and 39B are views showing a rough structure of a modifiedexample of the haptic presentation device 1301 of FIG. 13 described inthe embodiment. In the haptic presentation device 1301 of FIG. 13, as inthe description in FIGS. 11A to 11D and FIGS. 12A and 12B which is thepremise thereof, the rotation axes of the two eccentric rotatorsopposite to each other have only to be parallel to each other, inclusiveof the case where they are on the same axis. Thus, in the hapticpresentation device 1301 of FIG. 13, since the two facing eccentricrotators are separated in the rotation axis direction and respectivelyrotate on different planes, a surplus moment caused by mutual forcesgenerated in the rotation plane directions of the two eccentric rotatorsis generated in the haptic presentation device 1301, and there is a fearthat a rattle or the like of the rotation axis is caused. FIGS. 39A and39B are views showing a structure in which a surplus moment caused bythe rotation of two eccentric rotators on different planes issuppressed.

The arrangement of two facing eccentric rotators 3901 a and 3901 b shownin FIGS. 39A and 39B is such that the rotation axes thereof are on thesame axis, and a part of the eccentric rotator 3901 b covers theeccentric rotator 3901 a. By the structure as stated above, since manymaterial particles of the two eccentric rotators 3901 a and 3901 b arerotated on the same plane around the same rotation axis, the generationof the surplus moment caused by the rotation of the two facing eccentricrotators on the different planes is suppressed, and the rattle or thelike of the rotation axis is also relieved. As a result of this, it isimpossible to cause three pairs of the eccentric rotators 3901 a and3901 b and the like to intersect at right angles at the barycenterposition as in FIG. 13, and the respective eccentric rotator pairs 3901a and 3901 b and the like have only to be in an orthogonal relation.Besides, when the rotations can be three-dimensionally combined in anarbitrary direction, they may not be orthogonal to each other.Incidentally, this embodiment is not limited to the three dimensions,and according to a use, it can be applied to one dimension or twodimensions.

Applied Example 3

FIG. 40 is an explanatory view of a desk device 4001 having a built-inhaptic presentation device described in the embodiment, and is a viewshowing a rough structure of the desk device 4001. The desk device 4001includes a haptic presentation device 4010, a control circuit 4020, anda posture sensor 4030 (may be an acceleration, angular acceleration, orposition sensor). The control circuit 4020 corresponds to the controldevice 4120 in FIG. 41, and the posture sensor 4030 corresponds to theinput device 4130 in FIG. 41.

Here, for example, in the case where the desk device 4001 is moved onthe desk by the user toward a direction 4040, the posture sensor 4030detects the position change toward the direction 4040 in FIG. 40, andthe control circuit 4020 analyzes input information from the posturesensor 4030, and controls motors in the haptic presentation device 4010so as to suppress the motion of the haptic presentation device 4010toward the direction 4040 or so as to sway it in the horizontaldirection. Thus, the haptic presentation device 4010 presents a force ina direction 4050, and causes the user to feel the friction force on thedesk against the movement toward the direction 4040.

Besides, for example, in the case where the desk device 4001 is moved onthe desk by the user toward the direction 4040, the posture sensor 4030detects the position change toward the direction 4040 in FIG. 40, andthe control circuit 4020 analyzes input information from the posturesensor 4030, and controls motors in the haptic presentation device 4010so as to generate a force in a normal direction to the direction 4040 ofthe haptic presentation device 4010. Thus, the haptic presentationdevice 4010 presents a force to generate simple harmonic oscillations orthe like in the direction 4060, and causes the user to feel theroughness on the desk against the movement toward the direction 4040.

INDUSTRIAL APPLICABILITY

By carrying out the invention, it is possible to realize the usefulman-machine interface which can be mounted on an equipment used in thefield of VR (Virtual Reality), an equipment used in the field of game, acellular phone, a portable navigation equipment, a PDA (Personal digitalAssistant) and the like.

More specifically, for example, in the field of the VR, the existence ofan object in a virtual space, or the shock due to a collision can bepresented by presenting a force to the person through the man-machineinterface to which the invention is applied, or by giving a resistingforce or a reaction force to limit the motion of the person. Besides, bymounting the interface on the cellular phone, the portable navigationequipment or the like, various instructions, guides and the like, whichhave not been conventionally seen, can be realized through the skin ofthe operator.

What is claimed:
 1. A haptic communication apparatus adapted to performtransmission and/or reception of information, wherein the hapticcommunication apparatus comprises a haptic presentation device, andwherein the haptic presentation device is adapted to control a physicalquantity utilizing a haptic sensory characteristic representing arelationship between the physical quantity to be applied to a human bodyand a sensory quantity to be perceived by the human body, and thereby topresent haptic information.
 2. The haptic communication apparatusaccording to claim 1, wherein the physical quantity comprises at leastone of a vibration, a torque and force, and wherein the sensory quantitycomprises at least one of a vibration sensation, a torque sensation, aforce sensation, and an operation feeling.
 3. The haptic communicationapparatus according to claim 1, wherein the haptic presentation deviceis adapted to control the physical quantity utilizing a nonlinearity ofthe relationship between the physical quantity to be applied to thehuman body and the sensory quantity to be perceived by the human body,and thereby to present haptic information, wherein the physical quantitycomprises at least one of a vibration, a torque and force, and whereinthe sensory quantity comprises at least one of a vibration sensation, atorque sensation, a force sensation, and an operation feeling.
 4. Thehaptic communication apparatus according to claim 1, wherein the hapticpresentation device is adapted to control the physical quantityutilizing a nonlinearity of the relationship between the physicalquantity to be applied to the human body and the sensory quantity to beperceived by the human body, and thereby to present haptic information,wherein the physical quantity comprises at least one of a vibration, atorque and force, and wherein the sensory quantity comprises a forcesensation.
 5. The haptic communication apparatus according to claim 1,wherein the haptic presentation device is adapted to control thephysical quantity utilizing a nonlinearity of the relationship betweenthe physical quantity to be applied to the human body and the sensoryquantity to be perceived by the human body, and thereby to presenthaptic information, wherein the physical quantity comprises anacceleration, and wherein the sensory quantity comprises at least one ofa vibration sensation, a torque sensation, a force sensation, and anoperation feeling.
 6. The haptic communication apparatus according toclaim 1, wherein the haptic presentation device is adapted to controlthe physical quantity utilizing a nonlinearity of the relationshipbetween the physical quantity to be applied to the human body and thesensory quantity to be perceived by the human body, and thereby topresent haptic information, wherein the physical quantity comprises anacceleration, and wherein the sensory quantity comprises a forcesensation.
 7. The haptic communication apparatus according to claim 1,wherein the haptic presentation device is adapted to control thephysical quantity utilizing a hysteresis of the relationship between thephysical quantity to be applied to the human body and the sensoryquantity to be perceived by the human body, and thereby to presenthaptic information, wherein the physical quantity comprises at least oneof a vibration, a torque and force, and wherein the sensory quantitycomprises at least one of a vibration sensation, a torque sensation, aforce sensation, and an operation feeling.
 8. The haptic communicationapparatus according to claim 1, wherein the haptic presentation deviceis adapted to control the physical quantity utilizing a masking effectrelating to a haptic sense, and thereby to present haptic information,wherein the physical quantity comprises at least one of a vibration, atorque and force, and wherein the sensory quantity comprises at leastone of a vibration sensation, a torque sensation, a force sensation, andan operation feeling.
 9. The haptic communication apparatus according toclaim 1, wherein the haptic presentation device generates the physicalquantity and a masking vibration to vary the sensory quantity due to thephysical quantity by the masking vibration, and thereby to presenthaptic information, wherein the physical quantity comprises at least oneof a vibration, a torque and force, and wherein the sensory quantitycomprises at least one of a vibration sensation, a torque sensation, aforce sensation, and an operation feeling.
 10. The haptic communicationapparatus according to claim 1, wherein the haptic presentation deviceis adapted to control the physical quantity utilizing a phenomenon thatthe relationship between the physical quantity to be applied to thehuman body and the sensory quantity to be perceived by the human body ischanged according to at least one of muscle tensile state, physicalstate, physiological state, psychological state, breath state, posturestate, and neural firing state, and thereby to present hapticinformation, wherein the physical quantity comprises at least one of avibration, a torque and force, and wherein the sensory quantitycomprises at least one of a vibration sensation, a torque sensation, aforce sensation, and an operation feeling.
 11. The haptic communicationapparatus according to claim 1, wherein the haptic presentation devicegenerates a physical quantity according to at least one of muscletensile state, physical state, physiological state, psychological state,breath state, posture state, and neural firing state so as to change thesensory quantity to be perceived by the human body, and thereby topresent haptic information, wherein the physical quantity comprises atleast one of a vibration, a torque and force, and wherein the sensoryquantity comprises at least one of a vibration sensation, a torquesensation, a force sensation, and an operation feeling.
 12. The hapticcommunication apparatus according to claim 1, wherein the hapticpresentation device utilizes a plurality of operation points on a curverepresenting the relationship of the haptic sensory characteristic togenerate a plurality of physical quantities corresponding the pluralityof operation points, and thereby to present haptic information, whereinthe physical quantity comprises at least one of a vibration, a torqueand force, and wherein the sensory quantity comprises at least one of avibration sensation, a torque sensation, a force sensation, and anoperation feeling.
 13. The haptic communication apparatus according toclaim 1, wherein the haptic presentation device is adapted to controlthe physical quantity by setting each of operation points on a curverepresenting the relationship of the haptic sensory characteristic andeach operation duration time on each of operation points, and thereby topresent haptic information, wherein the physical quantity comprises atleast one of a vibration, a torque and force, and wherein the sensoryquantity comprises at least one of a vibration sensation, a torquesensation, a force sensation, and an operation feeling.
 14. The hapticcommunication apparatus according to claim 1, wherein the hapticpresentation device generates a plurality of physical quantities so thatthe integral of the sensory quantity is not zero, and thereby to presenthaptic information, wherein the physical quantity comprises at least oneof a vibration, a torque and force, and wherein the sensory quantitycomprises at least one of a vibration sensation, a torque sensation, aforce sensation, and an operation feeling.
 15. The haptic communicationapparatus according to claim 1, wherein the haptic presentation devicecomprises a plurality of eccentric rotator units, and wherein settingcontrol modes of the eccentric rotator units causes the presentation ofone or more of a vibration, a force, a shear force, a torque, aresultant torque to twist a palm or a finger or another wholepresentation object, a shape feeling of a three-dimensional objectcaused by presentation of a three-dimensional resisting force, anelastic feeling, a tactile sensation, a feeling in which a force istransmitted on a palm or a finger or another presentation object, afeeling in which a material rolls on a palm or a finger or anotherpresentation object, a feeling in which a force, a vibration or a torquepasses through a palm or a finger or another presentation object, and atexture of a surface of a virtual object.
 16. The haptic communicationapparatus according to claim 1, wherein the haptic presentation devicecomprises one or more rotators, wherein a torque is generated by atemporal change of the resultant angular momentum vector of the angularmomenta of each rotator to generate at least one of the vibrationsensation, the torque sensation, the force sensation, and the operationfeeling, and thereby to present haptic information, wherein the hapticpresentation device is operable to control a temporal change of aresultant momentum vector by controlling the rotations of each rotatorindividually, wherein when the resultant angular momentum vector is inthe vicinity of zero, the haptic presentation device is operable tochange the resultant angular momentum vector abruptly to suppress aprecession torque due to a operation of a user holding the hapticpresentation device.
 17. The haptic communication apparatus according toclaim 1, wherein the haptic presentation device is adapted to presentone or more of a shape feeling of a three-dimensional object caused bypresentation of a three-dimensional resisting force, an elastic feeling,a tactile sensation, a feeling in which a force is transmitted on a palmor a finger or another presentation object, a feeling in which amaterial rolls on a palm or a finger or another presentation object, afeeling in which a force, a vibration or a torque passes through a palmor a finger or another presentation object, and a texture of a surfaceof a virtual object.